CN103568810B - Energy recyclable auxiliary hub motor hydraulic driving system and control method thereof - Google Patents
Energy recyclable auxiliary hub motor hydraulic driving system and control method thereof Download PDFInfo
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- CN103568810B CN103568810B CN201310584996.0A CN201310584996A CN103568810B CN 103568810 B CN103568810 B CN 103568810B CN 201310584996 A CN201310584996 A CN 201310584996A CN 103568810 B CN103568810 B CN 103568810B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
- Y02T10/92—Energy efficient charging or discharging systems for batteries, ultracapacitors, supercapacitors or double-layer capacitors specially adapted for vehicles
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Abstract
The invention discloses an energy recyclable auxiliary hub motor hydraulic driving system which comprises a controller, a power take-off device, a hydraulic pump, a hydraulic control valve set and two hydraulic motors arranged in two front wheel hubs. The energy recyclable auxiliary hub motor hydraulic driving system is characterized in that the system further comprises two energy accumulators and two solenoid valves. A closed loop is formed by the hydraulic pump and the two hydraulic motors through the hydraulic control valve set, and two energy accumulators are mounted on the oil inlet loop and the oil outlet loop of the two hydraulic motors respectively through the solenoid valves. The system can improve the driving force of a whole vehicle on bad condition roads, can further achieve energy recovery when the vehicle brakes, and improve the economical efficiency of the whole vehicle by closing the engine when the vehicle travels at low speed.
Description
Technical field
The invention belongs to automobile hydraulic application technology field, it is related to a kind of hub motor hydraulic pressure that can realize energy regenerating
Assistant drive system.
Background technology
It is non-firmly that commercial car, heavy truck and engineering truck are frequently encountered mine road surface, die Dorfstrasse, construction site etc.
The smooth road such as ground and mud, ice and snow.Its attachment coefficient is typically small, also has great slope once in a while.Traditional single shaft drives vapour
Driving wheel is likely to occur skidding to car in these cases, automobile poor by property.Entirely drive to overcome traditional single shaft
Driving the deficiency of vehicle, adhesion weight can be effectively utilized, obtaining maximum driving force hence it is evident that strengthening it on severe road surface
By performance.But, the working environment of common engineering car more complicated although sometimes having wet-skid road surface or steep
Slope, but most of or flat good hard surfacing.Entirely drive in speed and fuel-economy in the case of good road surface
Just seem not outstanding in property.And, entirely drive easily to produce parasitic power, not only increase the load of Parts for Power Train, make
Tire accelerated wear test because of excessive slip, also reduces transmission efficiency and propulsive efficiency simultaneously.
For this reason, both having needed under severe road environment for those, the weight working is needed on good hard surfacing again
Type commercial car, Publication No. CN102358163A Chinese patent application proposes and a set of is mainly made up of hydraulic pump and hydraulic motor
Hub hydraulic motor driving system（Hereinafter referred to as liquid drive system）Process auxiliary drive is carried out to automobile.In the feelings increasing very little cost
Under condition, significantly improve automobile on bad road surface by performance.When vehicle runs into this kind of road conditions, start liquid drive system, help
Automobile passes through；After crossing this road conditions, close liquid drive system, still driven with former traditional vehicle mechanical drive mode, improve transmission
Efficiency.
On the other hand, current International Crude Oil hits new peak continuously, and fuel price also climbs up and up therewith, and society is to automobile
Fuel economy is put forward higher requirement, and the various technical measures that can significantly reduce fuel consumption are subject to the height weight of people
Depending on.Hydraulic hybrid vehicle not only can realize high-power Brake energy recovery and release at short notice, reaches fuel-economizing
Purpose, and in cost price, technology maturation, reliable operation and the greater advantage being easy to the aspects such as maintenance, in the last few years, liquid drives
Motor vehicle driven by mixed power is increasingly subject to people's attention and studies.
And the liquid drive system that Chinese patent application CN102358163A proposes is had in structure with liquid-driving mixed power system
Very big similarity, but has the disadvantage that not enabling Brake energy recovery recycles.But liquid-driving mixed power complex structure,
And for the vehicles such as truck, engineering truck, drive mechanism change is larger, relatively costly.So, in the power of conventional truck
On the basis of drive mechanism, add little Hydraulic Elements, the driving force improving vehicle is to keep, on process auxiliary drive advantage, having concurrently
The function of energy regenerating will have bigger application prospect.
Content of the invention
The purpose of the present invention is on the basis of the power transmission arrangment of conventional truck, adds a set of Hydraulic Elements, Ke Yiti
The driving force of high vehicle, to keep process auxiliary drive advantage, can be realized Brake energy recovery simultaneously and recycle minimizing fuel consumption,
In addition car load fuel economy, to improve efficiency of combustion, is improved in the operating point that electromotor can be adjusted in low vehicle speeds.
The technical solution used in the present invention is as follows：
A kind of can with the hub motor hydraulic auxiliary driving system of energy regenerating, including transmitter, power takeoff, hydraulic pump,
Hydraulic control valve group, 2 hydraulic motors being arranged on two front-wheel hubs, 2 accumulators, and with described electromotor, institute
State the controller that hydraulic pump, described hydraulic control valve group and described 2 hydraulic motors connect,
Wherein, described hydraulic pump passes through hydraulic control valve group and 2 hydraulic motors composition hydraulic closed drive circuit；
The oil-feed that 2 described accumulators are installed in series in 2 hydraulic motors by electromagnetic valve respectively with go out on oil return line.
One end of described power takeoff is connected with the output shaft of the driving adnexa of electromotor, is connected using spline housing, another
End is connected with the armature spindle of the hydraulic pump being fixedly mounted on vehicle frame it is considered to actual arrangement bulk, using spline housing or method
Blue disk or short universal joint connect.
The high pressure oil inlet of the high pressure oil export of described hydraulic pump and described hydraulic control valve group connects, described hydraulic pressure
The low pressure oil export of the low pressure oil inlet of pump and described hydraulic control valve group connects.
Described hydraulic control valve group includes the first electromagnetic valve, the second electromagnetic valve, 2 overflow valves and check valve.
Described the first electromagnetic valve entering respectively at described hydraulic motor（Go out）Hydraulic fluid port, the going out of described hydraulic motor（Enter）Oil
Mouth connects；
Described second electromagnetic valve includes the second electromagnetic valve A and the second electromagnetic valve B, described accumulator include the first accumulator and
Second accumulator, wherein, described second electromagnetic valve A and the second electromagnetic valve B be connected in series in respectively described hydraulic motor into and out of
On oil circuit；
Described second electromagnetic valve A is connected with described first accumulator；Described second electromagnetic valve B is with described second accumulator even
Connect；
Described controller and described electromotor, described hydraulic pump, described first electromagnetic valve, the second electromagnetic valve A and B, described 2
Individual hydraulic motor and described first electromagnetic valve connect.
The preferred three-position four-way valve of described first electromagnetic valve, described second electromagnetic valve A and B all preferred two position two-way valves；
The Median Function of described three-position four-way valve is " O " type, its P mouth, A mouth, the B mouth hydraulic oil with described hydraulic pump respectively
Outlet, described hydraulic motor enter（Go out）Hydraulic fluid port, the going out of hydraulic motor（Go out）Hydraulic fluid port connects；
Described hydraulic pump is axial plunger type high voltage variable pump, and maximum working pressure (MWP) is up to 40Mpa；
Described 2 hydraulic motor structures are identical, are the secondary Hydraulic Elements of pump-motor, and their output rotor axle divides
It is not connected with the wheel hub mechanical bolt of 2 front-wheels.
Of the present invention a kind of can be switched with the mode of operation of the hub motor hydraulic auxiliary driving system of energy regenerating
Control method, comprises the steps：
1）Controller Real-time Collection acceleration pedal position signal, brake pedal position signal, wheel speed signal, gear shift operating rod
The pressure signal of position signalling, the first accumulator and the second accumulator, and by filtering, modulation treatment, by accelerator pedal position
It is converted into the voltage signal that range is 0-5V with brake pedal position signal；
2）Average wheel speed method is adopted to estimate the actual vehicle speed of vehicle according to each wheel wheel speed signal；According to accelerator pedal and braking
The voltage signal of pedal position estimates that the operation of driver is intended to；Pressure signal according to accumulator estimates the first and second accumulation of energys
The SOC value of device；Set the ceiling value soc_h of normal work and lower limit value soc_l of accumulator；Target setting slip rate s1 and
S2, and calculate corresponding target wheel speed vw1 and vw2；Set vehicle speed threshold value v1, v2, v3 and v1<v2<v3；3）Judge that speed is
No be more than 0, if not vehicle parking is then described, enter step 11）；Otherwise enter step 4）；
4）Judge whether variator is located at reverse gear according to gear shift operating rod position signalling, control if yes then enter reversing and calculate
Method, enters step 5）, otherwise enter thermoacoustic prime engine algorithm, enter step 7）.
5）Judge whether the wheel speed of trailing wheel is more than vw1, if yes then enter step 6）；Otherwise continue to judge the wheel speed of trailing wheel
Whether it is less than vw2, pattern is operated alone if yes then enter reversing electromotor；Otherwise maintain the state of system previous stage；
6）Judge whether the SOC of the second accumulator is more than soc_h, combine with electromotor if yes then enter reversing accumulator
Drive pattern；Otherwise continue to judge that whether the SOC of the second accumulator is less than soc_l, if yes then enter reversing hydraulic pump with
Motivation joint drive pattern；Otherwise maintain the state of system previous stage.
7）Judge whether accelerator pedal position voltage is less than 0.1V and whether brake pedal position voltage is more than 0.1V, if
It is then to enter step 8）；Otherwise enter step 9）.
8）Judge whether the first accumulator SOC is less than soc_h, if yes then enter driving accumulator Brake energy recovery mould
Formula, otherwise system exit.
9）Judge whether speed is less than v1, if yes then enter step 10）；Otherwise continue to judge whether speed is more than v2,
If yes then enter step 11)；Otherwise continue to judge whether speed is more than v3, be operated alone if yes then enter driving electromotor
Pattern, otherwise maintains system previous stage state.
10）Judge whether the SOC of the first accumulator is more than soc_h, mould is operated alone if yes then enter driving accumulator
Formula；Otherwise continue to judge whether the SOC of the first accumulator or SOC of the second accumulator is less than soc_l, if yes then enter driving
Engine driving and accumulator pressurizing pattern；Otherwise maintain system previous stage state.
11）Judge whether the wheel speed of trailing wheel is more than vw1, if yes then enter step 12）；Otherwise continue to judge the wheel of trailing wheel
Whether speed is less than vw2, pattern is operated alone if yes then enter driving electromotor；Otherwise maintain the state of system previous stage；
12）Judge whether the SOC of the first accumulator is more than soc_h, join if yes then enter driving accumulator and electromotor
Close drive pattern；Otherwise judge that whether the SOC of the first accumulator is less than soc_l, if yes then enter driving hydraulic pump and start
Machine joint drive pattern, otherwise maintains system previous stage state.
13）Control algolithm terminates.
Also include mode control method, specifically include as follows,
Described driving electromotor is operated alone pattern, and controller adjusts the valve element of the first electromagnetic valve, closes P-A and P-B and leads to
Road, adjusts the valve element of the second electromagnetic valve A, closes the connection of the first accumulator and working connection；Adjust hydraulic pump and hydraulic pressure horse simultaneously
The discharge capacity reaching is 0；
Drive pattern combined by described driving hydraulic pump with electromotor, and controller adjusts the valve element of the first electromagnetic valve, connects P-A
Passage, adjusts the valve element of the second electromagnetic valve A, closes the connection of the first accumulator and working connection；Adjust hydraulic pump and hydraulic pressure simultaneously
The discharge capacity of motor, makes the wheel speed of front-wheel follow trailing wheel wheel speed；
Drive pattern combined by described driving accumulator with electromotor, and controller adjusts the valve element of the first electromagnetic valve, closes P-A
With P-B passage, adjust the valve element of the second electromagnetic valve A, connect the first accumulator and working connection；The discharge capacity of regulation hydraulic pump is simultaneously
Zero, adjust the discharge capacity of hydraulic motor, make the wheel speed of front-wheel follow the wheel speed of trailing wheel；
Described driving accumulator Brake energy recovery pattern, controller adjusts the valve element of the first electromagnetic valve, cuts out P-A and P-
Channel B, adjusts the valve element of the second electromagnetic valve A, connects the connection of the first accumulator and working connection；Adjust hydraulic pump discharge is simultaneously
0, adjust the discharge capacity of hydraulic motor, make vehicle maintain certain speed to travel；
Described driving accumulator is operated alone pattern, and controller cuts out electromotor；Adjust the valve element of the first electromagnetic valve, close
P-A and P-B passage, adjusts the valve element of the second electromagnetic valve A, connects the first accumulator and working connection；Adjust the discharge capacity of hydraulic motor,
Make accumulator export vehicle and travel demand power；
Described driving electromotor is operated alone and accumulator pressurizing pattern, and controller adjusts the valve element of the first electromagnetic valve, connects
Logical P-A or P-B passage, adjusts the valve element of the second electromagnetic valve A or B, connects the first or second accumulator and working connection；Adjust hydraulic pressure
The discharge capacity of motor is 0, adjusts the discharge capacity of hydraulic pump, so that the energy that accumulator absorbs is can be utilized with trailing wheel for electromotor output energy
The difference of energy；
Described reversing electromotor is operated alone pattern, and controller adjusts the valve element of the first electromagnetic valve, closes P-A and P-B and leads to
Road, adjusts the valve element of the first electromagnetic valve B, closes the connection of the second accumulator and working connection；Adjust hydraulic pump and hydraulic pressure horse simultaneously
The discharge capacity reaching is 0；
Described reversing hydraulic pump and start joint drive pattern, controller adjusts the valve element of the first electromagnetic valve, connects P-B logical
Road, adjusts the valve element of the first electromagnetic valve B, closes the connection of the second accumulator and working connection；Adjust hydraulic pump and hydraulic pressure horse simultaneously
The discharge capacity reaching, makes the wheel speed of front-wheel follow trailing wheel wheel speed；
Drive pattern combined by described reversing accumulator with electromotor, and controller adjusts the valve element of the first electromagnetic valve, closes P-A
With P-B passage, adjust the valve element of the first electromagnetic valve B, connect the second accumulator and working connection；The discharge capacity of regulation hydraulic pump is simultaneously
Zero, adjust the discharge capacity of hydraulic motor, make the wheel speed of front-wheel follow the wheel speed of trailing wheel.The compared with prior art beneficial effect of the present invention
It is really：
1. the Hydraulic Elements adopting in system of the present invention, compared with motor, small volume quality while specific power is big
Gently, arrangement is installed simply.
2., compared with conventional truck, operating mode is adaptable for system of the present invention, can significantly improve vehicle bad
The driving force travelling on road surface.
3. compared with conventional truck, components of system as directed adds power takeoff, hydraulic motor, accumulator and electricity to system of the present invention
Magnet valve, it is therefore intended that solving the problems, such as that in heavy truck, capacity usage ratio is low, adds in original fluid motor-driven system-based
Plus accumulator can realize energy regenerating when vehicle is braked, and discharge hydraulic energy, process auxiliary drive when driving, realize energy again
Secondary utilization, plays the effect of car load energy-conservation；Electromotor can be closed in low vehicle speeds simultaneously, be operated alone by accumulator
Vehicle, improves the fuel economy of car load.
4. system of the present invention, compared with hydraulic hybrid power system, in the structure not changing conventional truck, increases
Little cost, both can realize process auxiliary drive, improve vehicle by property, Brake energy recovery can be realized again, improve whole
The economy of car.
5th, in control method, the decision logic of pattern switching is the part of innovation, and it is equally the present invention that each mode of operation controls
Innovative point.
Brief description
Fig. 1 be of the present invention can be with the structural representation of the hub motor hydraulic auxiliary driving system of energy regenerating；
Fig. 2 is of the present invention can be operated alone in electromotor with the hub motor hydraulic auxiliary driving system of energy regenerating
Energy transmission route schematic diagram during pattern；
Fig. 3 be of the present invention can be with the hub motor hydraulic auxiliary driving system of energy regenerating in variable pump and electromotor
Energy transmission route schematic diagram during joint drive pattern；
Fig. 4 be of the present invention can be with the hub motor hydraulic auxiliary driving system of energy regenerating in accumulator and electromotor
Energy transmission route schematic diagram during joint drive pattern；
Fig. 5 be of the present invention can be with the hub motor hydraulic auxiliary driving system of energy regenerating in Brake energy recovery mould
Energy transmission route schematic diagram during formula；
Fig. 6 is of the present invention can be operated alone in accumulator with the hub motor hydraulic auxiliary driving system of energy regenerating
Energy transmission route schematic diagram during pattern；
Fig. 7 be of the present invention can be operated alone starting with the hub motor hydraulic auxiliary driving system of energy regenerating and
Energy transmission route schematic diagram during accumulator pressurizing pattern；
Fig. 8 be of the present invention can hydraulic pressure control employed in the hub motor hydraulic auxiliary driving system with energy regenerating
The structure composition schematic diagram of valve group processed.
Fig. 9 is of the present invention can be increased with the vehicle traction of the hub motor hydraulic auxiliary driving system of energy regenerating
The curve chart of ratio；
Figure 10 is of the present invention can be increased with the vehicle climbable gradient of the hub motor hydraulic auxiliary driving system of energy regenerating
Plus the curve chart of ratio；
Figure 11 is of the present invention can be switched with the mode of operation of the hub motor hydraulic auxiliary driving system of energy regenerating
Control flow chart；
Figure 12 is of the present invention can be with thermoacoustic prime engine algorithm of the hub motor hydraulic auxiliary driving system of energy regenerating
Program flow diagram.
（Description of reference numerals）
1 first accumulator；2 electromotors；3 clutches；4 change speed gear boxes；5 controllers；6 power transmission shafts；After 7
Drive axle；8 semiaxis；9 trailing wheels；10 hydraulic pumps；11 hydraulic control valve groups；12 check valves；13 overflow valves；14—
Power takeoff；15 first electromagnetic valves；16 second accumulators；17 second electromagnetic valve B；18 second electromagnetic valve A；19 hydraulic pressure
Motor；20 front-wheels.
Specific embodiment
Below in conjunction with the accompanying drawings, the specific embodiment of the present invention is described in detail.
With reference to Fig. 1, of the present invention can be with the hub motor hydraulic auxiliary driving system of energy regenerating, including power takeoff
14th, hydraulic pump 10, hydraulic control valve group 11, the second electromagnetic valve A18 and the second electromagnetic valve B17, the first accumulator 1, the second accumulation of energy
Hydraulic motor 19 and controller 5 that device 16,2 is arranged in front-wheel 20 wheel hub.Wherein, hydraulic control valve group 11 includes one
One electromagnetic valve 15 and two overflow valves 13, its structure is as shown in Figure 8.
With reference to Fig. 1, one end of described power takeoff 14 and the driving adnexa of electromotor 2（Cooling fan etc.）Output shaft phase
Even, connected using spline housing, the other end is connected with the armature spindle of the hydraulic pump 10 being fixedly mounted on vehicle frame it is considered to actual arrangement
Bulk, is connected using spline housing or ring flange or short universal joint, thus the power of electromotor 2 is passed to hydraulic pump 10 simultaneously
Drive its work pump oil.
With reference to Fig. 1, hydraulic pump 10 of the present invention, by hydraulic control valve group 11 and 2 being arranged in 2 front-wheel hubs
Individual hydraulic motor 19 constitutes enclosed working connection, and the first accumulator 1 and the second accumulator 16 pass through the second electromagnetic valve A18 and the respectively
Two electromagnetic valve B17, series connection is entered hydraulic motor 19（Go out）Oil circuit and going out（Enter）On oil circuit；
The preferred three position four-way electromagnetic valve of first electromagnetic valve 15 in hydraulic control valve group 11, the P of three-position four-way valve represents high pressure
Oil-in, T represents low pressure oil-out, and A, B represent the actuator port of the actuators such as logical oil cylinder or oil motor；Three-position four-way valve has
Three operating positions, valve element pushes left side to, and P and B connects, and T and A connects；Valve element pushes right side to, and P and A connects, and T and B connects；Valve
Core is centrally located, different Median Function, and each hydraulic fluid port is exchanged information different, for " O " type three-position four-way valve, each hydraulic fluid port
A, B, P, T are not connected；
In hydraulic control valve group 11, the P mouth of the first electromagnetic valve 15 is connected with the high pressure oil export of hydraulic pump 10, T mouth and hydraulic pressure
The low pressure oil export of pump 10 connects, and A mouth and B mouth pass through overflow valve 13 with hydraulic motor 19 respectively into and out of hydraulic fluid port（Or go out, enter
Hydraulic fluid port）Connect；Different according to the position of valve element, connect P-A passage or P-B passage, adjust hydraulic motor 19 and rotate forward, invert.
Described second electromagnetic valve A18 and the second electromagnetic valve B17 is both preferably two position two-way valve.
Described controller 5 respectively with electromotor 2, hydraulic pump 10, the first electromagnetic valve 15, the second electromagnetic valve A18, the second electromagnetism
Holding wire is had to connect, in order to control them respectively between valve B17, the first accumulator 1,16,2 hydraulic motors 19 of the second accumulator
Operation.
With reference to Fig. 1, system of the present invention has two power transmission path：Original mechanical transmission path and the liquid adding
Pressure drive path.That is as car load power unit, its power can pass through machine driven system to electromotor 2（Including from
Clutch 3, change speed gear box 4, power transmission shaft 6, rear driving axle 7 and semiaxis 8）It is directly transmitted to trailing wheel 9 it is also possible to pass to by power takeoff 14
Hydraulic pump 10, through being passed with being arranged on the hydraulic drive circuit that in 2 front-wheel 20 wheel hubs, hydraulic motor 19 is constituted by hydraulic pump 10
Pass front-wheel 20.
System of the present invention does not change electromotor 2 in original mechanical transmission path, clutch 3, change speed gear box 4, passes
Installation site and connecting relation between moving axis 6, rear driving axle 7, semiaxis 8, trailing wheel 9.
In the hydraulic drive path added in system of the present invention, power takeoff 14 is common power taking part, power taking side
Formula is the output shaft end power taking of the driving adnexa from electromotor；
Described hydraulic pump 10 is axial plunger type high voltage variable pump, and maximum working pressure is 40Mpa, can choose as requested
The discharge capacity that existing product, such as ripple Crane company produce is the P90 pump of 75ml/r；
Described hydraulic motor 19 is hydraulic secondary component, both can work can as operation of oil pump and as oil motor；2
The armature spindle of hydraulic motor is connected using fixing mechanical bolt with the wheel hub of 2 front-wheels 20 respectively, and is arranged on 2 front-wheels
In wheel hub, constitute hydraulic hub motor；Existing product can be selected as requested.
The model of described first accumulator 1 and the second accumulator 16 and structure are identicals, mainly store the pressure of fluid
Power energy, and discharge pressure energy as power source if necessary.Optional as requested take existing product.
With reference to an example introduce of the present invention can be with the hub motor hydraulic pressure process auxiliary drive system of energy regenerating
The work process of system.
The first electromagnetic valve 15 in hydraulic control valve group in system of the present invention is three-position four-way valve, and controller 5 passes through
Control the spool position of three-position four-way valve, connect P-A or P-B passage, thus controlling the hydraulic motor being arranged in front-wheel hub
19 forward or reverse.Hydraulic motor rotate forward, can in vehicle forward process auxiliary drive, improve driving force；And hydraulic motor 19 is anti-
Turn, can when vehicle is in backward process auxiliary drive, improve reverse-drive power.So when introducing the work process of described system,
Driving and reversing two parts can be divided into.
The shift signal of controller 5 Real-time Collection change speed gear box, judges whether vehicle is in reverse travel state.If not
Then explanation vehicle is in driving states.Driving cycle is more complicated when driving for vehicle, so system of the present invention exists
It is divided into electromotor that pattern, variable pump are operated alone under vehicle driving states to combine drive pattern, accumulator with electromotor and start
Machine joint drive pattern, accumulator Brake energy recovery pattern and liquid accumulator are operated alone pattern, as shown in table 1.Now three
The spool position of position four-way valve is located at right side, connects P-A passage.
Mode of operation under vehicle driving states for table 1 system of the present invention
● represent clutch joint, motor operations
Zero represents clutch separation, motor idle running
With reference to table 1 and accompanying drawing 2 to 6, this five kinds of mode of operations are introduced respectively.
（1）Electromotor is operated alone pattern：Refer to automobile to travel on normal road surface, now driving wheel is non-slip, automobile is transported
The required torque of row is provided separately by electromotor, and hydraulic motor is in the state of idle running, and by electromotor through change speed gear box, master subtracts power
Fast device and differential mechanism reach wheel.
With reference to Fig. 2, automobile during normally travel, is used alone engine driving and just be enough to provide car load institute in good road surface
The power needing.In addition, in order to avoid the two times transfer of energy, improving the efficiency of drive system, now, liquid drive system is not turned on,
The mode of operation of system is operated alone pattern for electromotor.Electromotor is operated alone under pattern, and clutch 3 engages, electromotor 2
Power output through clutch 3, change speed gear box 4, power transmission shaft 6, reach wheel through rear driving axle 7 again, thus driving automobile, now hydraulic pressure
The discharge capacity of pump 10 is zero, and 2 hydraulic motors 19 are in idling conditions, and hydraulic system simultaneously obtains energy.Power transmission line such as Fig. 2
In arrow shown in.
（2）Hydraulic pump combines drive pattern with electromotor：When skidding in bad road surface driving wheel in running car, start wheel
Hub motor hydraulic driving system, hydraulic motor enters working condition, and hydraulic pump 10 obtains of electromotor 2 by power takeoff 14
Sub-power, for providing hydraulic oil to hydraulic motor 19, hydraulic motor 18 drives front-wheel；The another part power of electromotor 2
Trailing wheel 9 is driven by change speed gear box 4, is accordingly changed into front and back wheel and jointly drives vehicle.Controller 5 is controlled according to the travel conditions of vehicle
The discharge capacity of hydraulic pump 10 processed is to be supplied to the suitable driving force of hydraulic motor 19.
With reference to Fig. 3, running car when low attachment road surface or great slope road surface, due to being used alone engine driving
Trailing wheel can skid, and car load cannot move ahead.Now, driver can open liquid drive system, and system is hydraulic pump 10 and electromotor 2
Close drive pattern.Hydraulic pump 10 is combined under drive pattern with electromotor 2, and clutch 3 engages, and the power of one side electromotor 2 is defeated
Go out to pass sequentially through clutch 3, change speed gear box 4, power transmission shaft 6, rear driving axle 7 to trailing wheel 9, the power output of another aspect electromotor 2
Pass sequentially through power takeoff 14, hydraulic pump 10, hydraulic motor 19 to front-wheel 20.Now, controller 5 adjust hydraulic pump 10 discharge capacity not
It is zero, hydraulic motor 19 is in the working condition of motor, electromotor 2, hydraulic motor 18 drive vehicle jointly, and car load is by 2 wheel drivings
Move and become 4 wheel drive, car load is greatly promoted by performance.Power transmission line is as indicated by the arrows in fig. 3.
（3）Accumulator combines drive pattern with electromotor：When running car is on good road surface, and the first accumulator 1
In when having energy, do not need to combine drive pattern with electromotor as variable pump and a part of power of electromotor 2 distributed to liquid
Drive system.2/2-way valve A18 can be controlled by the first accumulator 1 and working connection conducting by controller 5, the first accumulator 1 with
Electromotor 2 drives car load jointly, strengthens car load starting, acceleration capacity.
With reference to Fig. 4, when running car is in good road surface, and when having energy in the first accumulator 1, controller 5 is permissible
2/2-way valve A18 is controlled to turn on the first accumulator 1 and working connection.Now system is driven with electromotor 2 jointly for accumulator
Pattern.Under this pattern, clutch 3 combines, and the power output of one side electromotor 2 passes sequentially through clutch 3, change speed gear box 4, transmission
Axle 6, rear driving axle 7 arrive trailing wheel 9, and on the other hand the energy in the first accumulator 1 passes through 2/2-way valve A18, hydraulic motor 19
To front-wheel 20, car load becomes 4 wheel drive by 2 wheel drive.This pattern is particularly suitable under the operating mode that car load has acceleration demand, simultaneously for
The Brake energy recovery of next stage is ready, saves more energy.Power transmission line such as the arrow institute in Fig. 4
Show.
（4）Accumulator Brake energy recovery pattern：In braking, trailing wheel is mechanical braking to automobile；Front-wheel is hydraulic braking
Or hydraulic pressure common braking with machinery.When having hydraulic braking, the hydraulic motor 19 being arranged in front-wheel hub works as oil motor,
Fill energy to the first accumulator 1, realize Brake energy recovery.
With reference to Fig. 5, when automobile brake, according to the size of severity of braking, it is possible to achieve all or part of energy returns
Receive.When severity of braking is smaller, can be first by front-wheel 20 hydraulic braking.Now energy reaches hydraulic motor 19 by front-wheel 20,
Reach the first accumulator 1 through 2/2-way valve A18 again.After accumulator is full of energy, then braked by mechanical brake.Work as braking
When strength ratio is larger, hydraulic system is braked with mechanical brake simultaneously, and controller 5 needs to distribute hydraulic braking and mechanical braking
Size is it is ensured that traffic safety.When brake hard, hydraulic system is not involved in braking, mechanical brake independent brake.Hydraulic braking
When, energy transmission route is as illustrated by arrows 5.
（5）Accumulator is operated alone pattern：Automobile is when running at a low speed or start to walk, if being filled with energy in the first accumulator 1
Amount, can not start electromotor 2, and so that accumulator is released energy and drive hydraulic motor 19, and hydraulic motor 19 drives 20 turns of front-wheel
Dynamic, so that car load starting.So avoid electromotor 2 to operate in poorly efficient area, equally improve fuel economy.
With reference to Fig. 6, when automobile runs at a low speed, if storing energy in the first accumulator 1, it is possible to use accumulator list
Solely drive car load, now, system enters liquid drive system and pattern is operated alone.Electromotor 2 does not have startup, and energy is by the first accumulation of energy
Device 1 reaches front-wheel 20 through 2/2-way valve A18, hydraulic motor 19.When this pattern is particularly suitable for car load startup, hydraulic motor
The characteristic of low-speed big is played, and electromotor 2 can be avoided to be operated in the low situation of slow-speed of revolution efficiency, raising is clear simultaneously
Economy afterwards.
（6）Electromotor is operated alone and accumulator pressurizing pattern：Automobile is when running at a low speed, if the first accumulator or
It is not full of energy, now electromotor is operated alone vehicle travel operation in low efficiency point, such that it is able to utilize in two accumulators
Filling of accumulator can act on regulation engine working point, which enhance the work efficiency of electromotor, equally improve fuel oil warp
Ji property.
With reference to Fig. 7, when automobile runs at a low speed, if not being full of energy in the first accumulator or the second accumulator, this
When now controller adjust the first electromagnetic valve valve element, connect P-A or P-B passage, adjust the second electromagnetic valve A or B valve element, connect
Logical first or second accumulator and working connection；The discharge capacity adjusting hydraulic motor is 0, adjusts the discharge capacity of hydraulic pump, so that accumulator is inhaled
The energy received exports the difference of energy and trailing wheel available energy for electromotor.
When controller 5 judges that vehicle is in reverse travel state according to shift signal, adjust the valve element of three-position four-way valve
Position, connects P-B passage, and the hydraulic motor being now arranged in front-wheel hub is maintained at inverted status.Falling in view of vehicle
In the case of car, speed ratio is relatively low, so mode of operation under vehicle backing state for the system of the present invention includes electromotor of moveing backward
Pattern is operated alone, drive pattern combined by reversing hydraulic pump with electromotor, reversing accumulator combines drive pattern with electromotor, this
Three models operating mode control method corresponding with vehicle driving states is identical, and difference is the traveling of vehicle
Direction and accumulator and the second electromagnetic valve, now the first accumulator 1 and the second electromagnetic valve A18 do not work, but the second accumulator
16 and second electromagnetic valve B17 participate in work.Detailed process refers to corresponding work under driving states for the system described above
Pattern.
Taking some conventional truck as a example, when vehicle is in fully loaded 100t, when change speed gear box one gear speed ratio is 12.1, can calculate
Draw pull strength ratio and climbable gradient ratio that hydraulic auxiliary driving system of the present invention can improve, such as Fig. 9 and Figure 10
Shown.As seen from the figure, after using hydraulic pressure process auxiliary drive, the max. climb slope of vehicle and pull strength are obviously improved,
Coefficient of road adhesion is lower, improves situation more notable.In practical situation, the target vehicle such as heavy truck, truck tractor is general
Using this system on the attachment road surface of 0.3-0.4, now the climbable gradient of vehicle and pull strength can improve 14.4%-17.2% and
13.4-15.6%.
Accumulator reclaims the size of braking energy and the estimation of actual operating mode and its SOC value has very big dependency,
So do not illustrate this system here can reclaim how many energy, but literary composition analyzed by associated hybrid vehicle energy saving
Offer and understand, Brake energy recovery recycles and accounts for very big ratio in car load energy-conservation.
Of the present invention can be as follows with the concrete control method of the hub motor hydraulic auxiliary driving system of energy regenerating：
Controller Real-time Collection acceleration pedal position signal, brake pedal position signal, wheel speed signal, gear shift operating rod position
Confidence number, the pressure signal of the first and second accumulators, estimate and judge that the transport condition of vehicle and the operation of driver are intended to,
And send instruction to hydraulic pump, the first electromagnetic valve, the second electromagnetic valve A and B, the first accumulator and the second accumulator, hydraulic motor,
Adjust their work process.Concrete control method as shown in figure 11, comprises the steps：
1. controller Real-time Collection acceleration pedal position signal, brake pedal position signal, wheel speed signal, gear shift operating rod
The pressure signal of position signalling, the first accumulator and the second accumulator, and by filtering, modulation treatment, by accelerator pedal and system
Dynamic pedal position signal is converted into the voltage signal of 0-5V；
2. adopt average wheel speed method to estimate the actual vehicle speed of vehicle according to each wheel wheel speed signal；According to accelerator pedal and braking
The voltage signal of pedal position estimates that the operation of driver is intended to；Pressure signal according to accumulator estimates the first and second accumulation of energys
The SOC value of device simultaneously sets the ceiling value soc_h of normal work and lower limit value soc_l of accumulator, such as soc_h=0.85, soc_
l=0.3；Target setting slip rate s1 and s2（Such as s1=0.15, s2=0.2）And calculate corresponding target wheel speed vw1 and vw2；If
Determine vehicle speed threshold value v1, v2, v3 and v1<v2<V3, wherein v1 are operated alone the vehicle speed threshold value of pattern for accumulator, supplemented by v2
Help the vehicle speed threshold value that drive pattern is opened, v3 is the vehicle speed threshold value that auxiliary drive pattern exits；
3. judge that whether speed is more than 0, if not vehicle parking, control algolithm EP (end of program) are then described；Otherwise enter
Next step；
4. vehicle whether reverse travel is judged according to gear shift operating rod position signalling, if yes then enter reversing control algolithm
Subprogram, otherwise enters thermoacoustic prime engine arithmetic subroutine.
Thermoacoustic prime engine arithmetic subroutine as shown in figure 12, comprises the steps：
1）Controller adjusts the spool position of the first electromagnetic valve, connects P-A passage；
2）Judge whether accelerator pedal position voltage is less than 0.1V and whether brake pedal position voltage is more than 0.1V, if
It is to illustrate that vehicle is braked, enters next step, otherwise enter step 5）；
3）Judge whether the SOC value of the first accumulator is less than setting value soc_h, if entering next step, otherwise system
Exit；
4）Accumulator Brake energy recovery pattern, now hydraulic motor be operated in oil pump pattern, controller adjusts the second electricity
The valve element of magnet valve A, makes the first accumulator connect working connection；Adjust the displacement size of hydraulic motor simultaneously according to demand, control and store
Can device reclaim braking energy number；
5）Judge whether speed is less than setting value v1, if entering next step；Otherwise enter step 10）；
6）Judge whether the SOC of the first accumulator is more than soc_h, if entering next step；Otherwise enter step 8）；
7）Illustrate that speed is relatively low, and accumulator can individually improve the traveling required drive of vehicle, enter accumulator independent
Drive pattern.Now controller cuts out electromotor；Adjust the valve element of the first electromagnetic valve, close P-A and P-B passage, adjust second
The valve element of electromagnetic valve A, connects the first accumulator and working connection；Adjust the discharge capacity of hydraulic motor, make accumulator export vehicle and travel
Demand power；
8）Judging whether the SOC of the first or second accumulator is less than soc_l, if it is, entering next step, otherwise maintaining
The state of system previous stage；
9）Electromotor is operated alone and accumulator pressurizing pattern, and now controller adjusts the valve element of the first electromagnetic valve, connects
P-A or P-B passage, adjusts the valve element of the second electromagnetic valve A or B, connects the first or second accumulator and working connection；Adjust hydraulic pressure horse
The discharge capacity reaching is 0, adjusts the discharge capacity of hydraulic pump, makes the energy that accumulator absorbs be electromotor output energy and trailing wheel utilizable energy
The difference of amount；
10）Judge whether speed is more than v2, if yes then enter next step；Otherwise enter step 17）
11）Judge whether trailing wheel wheel speed skids, if yes then enter next step, otherwise enter step 16）；
12）Judge whether the SOC value of the first accumulator is more than setting value soc_h, if yes then enter next step；Otherwise enter
Enter step 14）
13）Illustrate that the first accumulator can provide hydraulic energy, system combines drive pattern with electromotor, now for accumulator
Controller adjusts the valve element of the first electromagnetic valve, closes P-A and P-B passage, adjusts the valve element of the second electromagnetic valve A, connects the first storage
Can device and working connection；The discharge capacity simultaneously adjusting hydraulic pump is 0 so as to zero carries idle running；The throttle adjusting electromotor according to demand is opened
Degree and the discharge capacity of hydraulic motor, make front and rear wheel export suitable driving force；
14）Judge whether the SOC of the first accumulator is less than soc_l, if yes then enter next step, otherwise before maintenance system
The state in one stage；
15）Illustrate that the first accumulator cannot provide hydraulic energy, system combines drive pattern with electromotor, now for hydraulic pump
Controller adjust the first electromagnetic valve valve element, connect P-A passage, adjust the second electromagnetic valve A valve element, close the first accumulator with
The connection of working connection；Adjust the discharge capacity of hydraulic pump and the discharge capacity of hydraulic motor according to demand simultaneously, so that front and rear wheel is exported suitable
Driving force；
16）Electromotor is operated alone pattern, and now controller adjusts the valve element of the first electromagnetic valve, closes P-A and P-B and leads to
Road, adjusts the valve element of the second electromagnetic valve A, closes the connection of the first accumulator and working connection；Adjust hydraulic pump and hydraulic pressure horse simultaneously
The discharge capacity reaching is 0, makes them keep zero load idle running.
17）Judge whether speed is more than v3, if yes then enter step 16；Otherwise maintain the state of system previous stage；
18）Control algolithm EP (end of program).
Compared with thermoacoustic prime engine arithmetic subroutine, braking and the judgement of speed, do not have for reversing control algolithm subprogram
Body comprises the steps：
1）Controller adjusts the spool position of the first electromagnetic valve, connects P-B passage；
2）Judge whether trailing wheel wheel speed skids, if yes then enter next step, otherwise enter step 7；
3）Judge whether the SOC value of the second accumulator is more than setting value soc_h, if yes then enter next step；Otherwise enter
Enter step 5）
4）Illustrate that the second accumulator can provide hydraulic energy, system combines drive pattern with electromotor, now for accumulator
Controller adjusts the valve element of the first electromagnetic valve, closes P-A and P-B passage, adjusts the valve element of the second electromagnetic valve B, connects the second storage
Can device and working connection；The discharge capacity simultaneously adjusting hydraulic pump is 0 so as to zero carries idle running；The throttle adjusting electromotor according to demand is opened
Degree and the discharge capacity of hydraulic motor, make front and rear wheel export suitable driving force；
5）Judge whether the SOC of the second accumulator is less than soc_l, if yes then enter next step, otherwise before maintenance system
The state in one stage；
6）Illustrate that the second accumulator cannot provide hydraulic energy, system combines drive pattern with electromotor, now for hydraulic pump
Controller adjust the first electromagnetic valve valve element, connect P-B passage, adjust the second electromagnetic valve B valve element, close the second accumulator with
The connection of working connection；Adjust the discharge capacity of hydraulic pump and the discharge capacity of hydraulic motor according to demand simultaneously, so that front and rear wheel is exported suitable
Driving force；
7）Electromotor is operated alone pattern, and now controller adjusts the valve element of the first electromagnetic valve, closes P-A and P-B passage,
Adjust the valve element of the second electromagnetic valve B, close the connection of the second accumulator and working connection；Adjust hydraulic pump and hydraulic motor simultaneously
Discharge capacity is 0, makes them keep zero load idle running.
To sum up, of the present invention can be with the hub motor hydraulic auxiliary driving system of energy regenerating, in existing tradition
On the architecture basics of vehicle, add a set of hydraulic system, not only may be implemented in process auxiliary drive car load on bad road surface and travel or move backward,
By Brake energy recovery, and can also reuse in low vehicle speeds, process auxiliary drive vehicle, improve car load economy
Property.Additionally, this system can achieve multiple-working mode, can significantly improve the multi-state proper capacity of vehicle, reasonable land productivity
With resource.
Claims (7)
1. a kind of can with the hub motor hydraulic auxiliary driving system of energy regenerating it is characterised in that include electromotor, power taking
Device, hydraulic pump, hydraulic control valve group, 2 hydraulic motors being arranged on two front-wheel hubs, 2 accumulators, and with described
The controller that electromotor, described hydraulic pump, described hydraulic control valve group and described 2 hydraulic motors connect,
Wherein, described hydraulic pump passes through hydraulic control valve group and 2 hydraulic motors composition enclosed working connections；
2 described accumulators are installed in series in the oil-feed and fuel-displaced two loops of 2 hydraulic motors；
The high pressure oil inlet of the high pressure oil export of described hydraulic pump and described hydraulic control valve group connects, the low pressure of described hydraulic pump
The low pressure oil export of oil inlet and described hydraulic control valve group connects；
Described hydraulic control valve group includes the first electromagnetic valve, the second electromagnetic valve, 2 overflow valves and check valve；
The first described electromagnetic valve is connected with the oil-in of described hydraulic motor, the oil-out of described hydraulic motor respectively；
Described second electromagnetic valve includes the second electromagnetic valve A and the second electromagnetic valve B, and described accumulator includes the first accumulator and second
Accumulator, wherein,
Described second electromagnetic valve A and the second electromagnetic valve B be connected in series in respectively described hydraulic motor into and out of on oil circuit；
Described second electromagnetic valve A is connected with described first accumulator；Described second electromagnetic valve B is connected with described second accumulator.
2. according to claim 1 can be with the hub motor hydraulic auxiliary driving system of energy regenerating it is characterised in that institute
The output shaft stating the driving adnexa of one end of power takeoff and electromotor is connected, using spline housing connection, the other end be arranged on car
The armature spindle of the variable pump on frame is connected, and is connected using spline housing or ring flange or short universal joint.
3. according to claim 1 can be with the hub motor hydraulic auxiliary driving system of energy regenerating it is characterised in that institute
Stating the first electromagnetic valve is three-position four-way valve, and Median Function is " O " type；Described second electromagnetic valve A and the second electromagnetic valve B is two
Two-port valve；
The P mouth of described three-position four-way valve, A mouth, B mouth respectively with the high pressure oil export of described hydraulic pump, the entering of described hydraulic motor
Hydraulic fluid port, the oil-out of hydraulic motor connect.
4. according to claim 3 can be with the hub motor hydraulic auxiliary driving system of energy regenerating it is characterised in that institute
Stating hydraulic pump is axial plunger type high voltage variable pump, and maximum working pressure (MWP) is 40Mpa.
5. according to claim 4 can be with the hub motor hydraulic auxiliary driving system of energy regenerating it is characterised in that institute
State 2 hydraulic motor structures identical, be the secondary Hydraulic Elements of pump-motor, and their output rotor axle respectively with 2 front-wheels
Wheel hub mechanical bolt connect.
6. a kind of can be with the operating mode switching control method of the hub motor hydraulic auxiliary driving system of energy regenerating, its feature
It is, comprise the steps：
1) controller Real-time Collection acceleration pedal position signal, brake pedal position signal, wheel speed signal, gear shift operating rod position
The pressure signal of signal, the first accumulator and the second accumulator, and by filtering, modulation treatment, by accelerator pedal position and system
Dynamic pedal position signal is converted into the voltage signal that range is 0-5V；
2) average wheel speed method is adopted to estimate the actual vehicle speed of vehicle according to each wheel wheel speed signal；According to accelerator pedal and brake pedal
The voltage signal of position estimates that the operation of driver is intended to；Pressure signal according to accumulator estimates the first and second accumulators
SOC value；Set the ceiling value soc_h of normal work and lower limit value soc_l of accumulator；Target setting slip rate s1 and s2, and
Calculate corresponding target wheel speed vw1 and vw2；Set vehicle speed threshold value v1, v2, v3 and v1<v2<v3；3) judge whether speed is big
In 0, if not vehicle parking is then described, enter step 11)；Otherwise enter step 4)；
4) judge whether variator is located at reverse gear according to gear shift operating rod position signalling, if yes then enter reversing control algolithm,
Enter step 5), otherwise enter thermoacoustic prime engine algorithm, enter step 7)；
5) judge whether the wheel speed of trailing wheel is more than vw1, if yes then enter step 6)；Whether otherwise continue to judge the wheel speed of trailing wheel
Less than vw2, pattern is operated alone if yes then enter reversing electromotor；Otherwise maintain the state of system previous stage；
6) judge whether the SOC of the second accumulator is more than soc_h, combine driving if yes then enter reversing accumulator with electromotor
Pattern；Otherwise continue to judge whether the SOC of the second accumulator is less than soc_l, if yes then enter reversing hydraulic pump and electromotor
Joint drive pattern；Otherwise maintain the state of system previous stage；
7) judge whether accelerator pedal position voltage is less than 0.1V and whether brake pedal position voltage is more than 0.1V, if it is
Enter step 8)；Otherwise enter step 9)；
8) judge whether the first accumulator SOC is less than soc_h, if yes then enter driving accumulator Brake energy recovery pattern,
Otherwise system exits；
9) judge whether speed is less than v1, if yes then enter step 10)；Otherwise continue to judge whether speed is more than v2, if
It is then to enter step 11)；Otherwise continue to judge whether speed is more than v3, mould is operated alone if yes then enter driving electromotor
Formula, otherwise maintains system previous stage state；
10) judge whether the SOC of the first accumulator is more than soc_h, pattern is operated alone if yes then enter driving accumulator；No
Then continue to judge whether the SOC of the first accumulator or SOC of the second accumulator is less than soc_l, start if yes then enter driving
Machine drives and accumulator pressurizing pattern；Otherwise maintain system previous stage state；
11) judge whether the wheel speed of trailing wheel is more than vw1, if yes then enter step 12)；Otherwise continuation judges that the wheel speed of trailing wheel is
No less than vw2, pattern is operated alone if yes then enter driving electromotor；Otherwise maintain the state of system previous stage；
12) judge whether the SOC of the first accumulator is more than soc_h, combine drive if yes then enter driving accumulator with electromotor
Dynamic model formula；Otherwise judge whether the SOC of the first accumulator is less than soc_l, join if yes then enter driving hydraulic pump and electromotor
Close drive pattern, otherwise maintain system previous stage state；
13) control algolithm terminates.
7. operating mode switching control method according to claim 6 is it is characterised in that also include mode control method,
Specifically include as follows,
Described driving electromotor is operated alone pattern, and controller adjusts the valve element of the first electromagnetic valve, closes P-A and P-B passage, adjusts
Save the valve element of the second electromagnetic valve A, close the connection of the first accumulator and working connection；Adjust the row of hydraulic pump and hydraulic motor simultaneously
Measure as 0；
Drive pattern combined by described driving hydraulic pump with electromotor, and controller adjusts the valve element of the first electromagnetic valve, connects P-A and leads to
Road, adjusts the valve element of the second electromagnetic valve A, closes the connection of the first accumulator and working connection；Adjust hydraulic pump and hydraulic pressure horse simultaneously
The discharge capacity reaching, makes the wheel speed of front-wheel follow trailing wheel wheel speed；
Drive pattern combined by described driving accumulator with electromotor, and controller adjusts the valve element of the first electromagnetic valve, closes P-A and P-
Channel B, adjusts the valve element of the second electromagnetic valve A, connects the first accumulator and working connection；The discharge capacity simultaneously adjusting hydraulic pump is zero,
Adjust the discharge capacity of hydraulic motor, make the wheel speed of front-wheel follow the wheel speed of trailing wheel；
Described driving accumulator Brake energy recovery pattern, controller adjusts the valve element of the first electromagnetic valve, closes P-A and P-B and leads to
Road, adjusts the valve element of the second electromagnetic valve A, connects the connection of the first accumulator and working connection；Adjust hydraulic pump discharge is 0 simultaneously,
Adjust the discharge capacity of hydraulic motor, make vehicle maintain certain speed to travel；
Described driving accumulator is operated alone pattern, and controller cuts out electromotor；Adjust the valve element of the first electromagnetic valve, close P-A
With P-B passage, adjust the valve element of the second electromagnetic valve A, connect the first accumulator and working connection；Adjust the discharge capacity of hydraulic motor, make
Accumulator output vehicle travels demand power；
Described driving electromotor is operated alone and accumulator pressurizing pattern, and controller adjusts the valve element of the first electromagnetic valve, connects P-A
Or P-B passage, adjust the valve element of the second electromagnetic valve A or B, connect the first or second accumulator and working connection；Adjust hydraulic motor
Discharge capacity be 0, adjust the discharge capacity of hydraulic pump, make the energy that accumulator absorbs be electromotor output energy and trailing wheel available energy
Difference；
Described reversing electromotor is operated alone pattern, and controller adjusts the valve element of the first electromagnetic valve, closes P-A and P-B passage, adjusts
Save the valve element of the first electromagnetic valve B, close the connection of the second accumulator and working connection；Adjust the row of hydraulic pump and hydraulic motor simultaneously
Measure as 0；
Described reversing hydraulic pump and start joint drive pattern, controller adjusts the valve element of the first electromagnetic valve, connection P-B passage,
Adjust the valve element of the first electromagnetic valve B, close the connection of the second accumulator and working connection；Adjust hydraulic pump and hydraulic motor simultaneously
Discharge capacity, makes the wheel speed of front-wheel follow trailing wheel wheel speed；
Drive pattern combined by described reversing accumulator with electromotor, and controller adjusts the valve element of the first electromagnetic valve, closes P-A and P-
Channel B, adjusts the valve element of the first electromagnetic valve B, connects the second accumulator and working connection；The discharge capacity simultaneously adjusting hydraulic pump is zero,
Adjust the discharge capacity of hydraulic motor, make the wheel speed of front-wheel follow the wheel speed of trailing wheel.
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